l1.5-safety-system/safety_user_plugin/scripts/user_info.py

#!/usr/bin/env python

from robot_info import RobotInfo

class UserInfo:

    def __init__(self):
        self.selected_robot = None
        self.robots_id_list = []
        self.user_stop_state = None
        self.master_stop_state = None
        self.clutch_state = None

    def select_robot(self,robot_id):
        self.selected_robot = RobotInfo(robot_id)

    def release_robot(self):
        self.selected_robot = None

    def update_robots_id_list(self,robots_id_list):
        self.robots_id_list = robots_id_list

    def update_selected_robot_info(self,new_robot_info):
        self.selected_robot.robot_id = new_robot_info.robot_id
        self.selected_robot.battery_voltage = new_robot_info.battery_voltage
        self.selected_robot.linear_velocity = new_robot_info.linear_velocity
        self.selected_robot.angular_velocity = new_robot_info.angular_velocity
        self.selected_robot.state = new_robot_info.state
        self.selected_robot.clutch = new_robot_info.clutch
        self.selected_robot.obstacle_detected = new_robot_info.obstacle_detected
        self.clutch_state = new_robot_info.clutch

    def get_user_stop_state(self):
        return self.user_stop_state

    def get_clutch_state(self):
        return self.clutch_state